Abstract: Holonomic-motion ground vehicles (i.e., mobile platforms) that are capable of controlled movement across non-level surfaces, while carrying one or more non-destructive inspection sensors or other tools. The mobile platform comprises a frame having four (or a multiple of four) Mecanum wheels, each wheel driven by a respective independently controlled motor, and further having a plurality (e.g., two) of independently controlled suction devices. The Mecanum wheels enable holonomic motion, while the suction devices facilitate sufficiently precise control of motion on non-level surfaces.

Abstract: A system is disclosed comprising a tractor vehicle, at least one trailer vehicle and a skin between and in contact with the tractor and trailer vehicles. One of the tractor and trailer vehicles is disposed in a non-inverted position above the skin and the other is disposed in an inverted position below the skin. The trailer vehicle comprises one or more magnets, while the tractor vehicle comprises one or more magnets magnetically coupled to each opposing magnet on the trailer vehicle. For example, the tractor and trailer vehicles may have mutually opposing permanent magnets in one-to-one relationship. Alternatively, each permanent magnet on the trailer vehicle could be opposed by one or more electro-permanent magnets on the tractor vehicle. The magnetic coupling between the magnets on the tractor and trailer vehicles produces an attraction force.

Abstract: A method of removing an out-of-tolerance area in a composite structure may comprise determining a location of the out-of-tolerance area within the composite structure, and selecting a volume of the composite structure to be removed based on the location of the out-of-tolerance area. The method may further include programming a machine tool to remove the volume and to pause after removal of each one of a quantity of layers of the volume. The method may additionally include removing one of the layers using the machine tool.

Abstract: A system comprising a tractor vehicle, at least one trailer vehicle and a skin between and in contact with the tractor and trailer vehicles. One of the vehicles is disposed in a non-inverted position above the skin and the other is inverted and below the skin. The trailer vehicle comprises one or more magnets, while the tractor vehicle comprises one or more magnets magnetically coupled to each opposing magnet on the trailer vehicle. The vehicles may have mutually opposing permanent magnets in one-to-one relationship. Alternatively, each permanent magnet on the trailer vehicle could be opposed by one or more electro-permanent magnets on the tractor vehicle. The system further comprises means for maintaining the magnetic attraction force within a range as the vehicles move along a portion of the skin having a varying thickness.

Abstract: A system and method that allow inspection of hollow structures made of composite material, such as an integrally stiffened wing box of an aircraft. A wing box comprises top and bottom skins connected by a plurality of spaced spars. The system employs a plurality of scanners for inspecting different portions of each spar. The system uses dynamically controlled magnetic coupling to connect an external drive tractor to computer-controlled scanners that carry respective sensors, e.g., linear ultrasonic transducer arrays. A system operator can control the various components by means of a graphical user interface comprising multiple interaction regions that represent the individual scanner motion paths and are associated with respective motion script files.

Abstract: A method of removing an out-of-tolerance area in a composite structure may comprise determining a location of the out-of-tolerance area within the composite structure, and selecting a volume of the composite structure to be removed based on the location of the out-of-tolerance area. The method may further include programming a machine tool to remove the volume and to pause after removal of each one of a quantity of layers of the volume. The method may additionally include removing one of the layers using the machine tool.

Abstract: A composite structure containing an out-of-tolerance area is restored using an automated material removal method. The location of an out-of-tolerance area within the structure is determined by non-destructive inspection and a volume of the structure to be removed is selected based on the location of the out-of-tolerance area. An automatic material removal tool is programmed and used to remove the selected volume of material. The volume of removed material may be is replaced by an integrated patch.

Abstract: A method of removing an out-of-tolerance area in a composite structure comprises determining the location of the out-of-tolerance area and selecting a volume of the composite structure to be removed based on the location of the out-of-tolerance area. The method may further include programming a machine tool to remove the volume and to pause after removal of each one of a quantity of layers of the volume. The method may additionally include removing one of the layers using the programmed machine tool. The method may further include restoring the volume removed using the programmed area removal digital definition.

Abstract: A detection system including a target object having a target object coordinate system, a tracking unit configured to monitor a position and/or an orientation of the target object and generate a target object position signal indicative of the position and/or the orientation of the target object, a camera positioned to capture an image of the target object, an orienting mechanism connected to the camera to control an orientation of the camera relative to the target object, and a processor configured to analyze the image to detect a discrepancy in the image and, when the discrepancy is present in the image, determine a location of the discrepancy relative to the target object coordinate system based at least upon the target object position signal and the orientation of the camera, and then orient the camera and laser to aim at and point out the discrepancy.

Abstract: Presented is a system and method for distributed operation of Local Positioning Systems (LPS). A method includes establishing a network connection with a local controller and providing a user interface for sending device commands to an LPS associated with the local controller, and may include requesting a network address of a server for streaming video. The user interface can control a plurality of LPS units and the local controller can accept device commands from a plurality of user interfaces. A system includes a local system with interfaces to an LPS and a network that directs device control messages to the LPS from one or more remote systems, and a remote system that establishes network connections with one or more local systems and provides a user interface for sending device control messages to the one or more LPS units.

Abstract: A system comprising a tractor vehicle, at least one trailer vehicle and a skin between and in contact with the tractor and trailer vehicles. One of the vehicles is disposed in a non-inverted position above the skin and the other is inverted and below the skin. The trailer vehicle comprises one or more magnets, while the tractor vehicle comprises one or more magnets magnetically coupled to each opposing magnet on the trailer vehicle. The vehicles may have mutually opposing permanent magnets in one-to-one relationship. Alternatively, each permanent magnet on the trailer vehicle could be opposed by one or more electro-permanent magnets on the tractor vehicle. The system further comprises means for maintaining the magnetic attraction force within a range as the vehicles move along a portion of the skin having a varying thickness.

Abstract: Holonomic-motion ground vehicles (i.e., mobile platforms) that are capable of controlled movement across non-level surfaces, while carrying one or more non-destructive inspection sensors or other tools. The mobile platform comprises a frame having four (or a multiple of four) Mecanum wheels, each wheel driven by a respective independently controlled motor, and further having a plurality (e.g., two) of independently controlled suction devices. The Mecanum wheels enable holonomic motion, while the suction devices facilitate sufficiently precise control of motion on non-level surfaces.

Abstract: A system for inspecting a test article incorporates a diagnostic imaging system for a test article. A command controller receives two dimensional (2D) images from the diagnostic imaging system. A three dimensional (3D) computer aided design (CAD) model visualization system and an alignment system for determining local 3D coordinates are connected to the command controller. Computer software modules incorporated in the command controller are employed, in aligning, the 2D images and 3D CAD model responsive to the local 3D coordinates. The 2D images and 3D CAD model are displayed with reciprocal registration. The alignment system is then directed to selected coordinates in the 2D images or 3D CAD model.

Abstract: Position determining systems and methods are provided. A particular portable device includes a calibration component to communicate with a local positioning system to determine an initial position and orientation of the portable device within a local coordinate system associated with a target structure. The portable device also includes at least one movement sensor to detect movement of the portable device. The portable device further includes a processor to determine a measured position and orientation of the portable device based on the initial position and orientation of the portable device within the local coordinate system and based on the detected movement of the portable device.

Abstract: Presented is a system and method for distributed operation of Local Positioning Systems (LPS). A method includes establishing a network connection with a local controller and providing a user interface for sending device commands to an LPS associated with the local controller, and may include requesting a network address of a server for streaming video. The user interface can control a plurality of LPS units and the local controller can accept device commands from a plurality of user interfaces. A system includes a local system with interfaces to an LPS and a network that directs device control messages to the LPS from one or more remote systems, and a remote system that establishes network connections with one or more local systems and provides a user interface for sending device control messages to the one or more LPS units.

Abstract: A system and method for correlating data is provided. Generally, the system contains a scanning system having at least one inspection emitter. The scanning system situated to scan a structure and produce a quantity of inspection information. A local positioning system is in communication with the scanning system and situated to detect a location of the quantity of inspection information in relation to the structure. A quantity of computer-aided design data corresponding to the quantity of inspection information is included. An imaging system is in communication with the scanning system and the local positioning system, the imaging system situated to produce an overlay image of at least two of an image based from the structure, an image based from the quantity of inspection information and an image formed from at least a portion of the quantity of computer-aided design data.

Abstract: A first method locates a component positioned underneath a surface of a target object using a pointing instrument, wherein a position of the component in the target object coordinate system is known. The first method includes calculating an orientation of the aim point axis of the instrument in the instrument coordinate system for the aim point axis of the instrument to be aligned with the component using at least an inverse calibration matrix, the position of the component in the target object coordinate system, and inverse kinematics of the instrument. The first method also includes rotating the aim point axis of the instrument to the calculated orientation. Second and third methods also are described for locating an access panel for accessing the component and/or maintenance zones in which the component resides.

Abstract: Methods are described for controlling orientation of an aim point axis of a video camera having an instrument coordinate system to track a point of interest on a movable target object and calculating positions of the point of interest in a local coordinate system in which the target object is moving. The methods include measuring pan and tilt angles of the aim point axis and distance substantially along the aim point axis and calculating a calibration matrix which transforms a position defined in the instrument coordinate system to a position defined in the local coordinate system. A system is described including an instrument and at least one computer, wherein the instrument includes a video camera and a range finder, and wherein the video camera includes an aim point axis having an adjustable orientation. In one example, the target object is adapted to move on and inspect an airplane surface.

Abstract: Methods and systems are provided for positioning a remote sensor within a target object. An articulated robotic system is coupled to the remote sensor. A positioning system determines a position of the target object to be inspected and determines a first position of the remote sensor. A control system calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.

Abstract: Methods and systems are disclosed for drilling counter sink fastener holes in composite materials with conductive foil lightning strike protection systems. Initially a non-destructive depth detector is scanned over a prospective fastener hole location. Then the depth of a conductive foil below a surface is detected. When the detected depth is less than a predetermined depth, a signal that indicates that a countersink fastener hole may be drilled is output. When the detected depth is greater than a predetermined depth, a signal that indicates that a countersink fastener hole may not be drilled is output.